/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
#include "ArNetworking.h"


void forwarderAdded(ArCentralForwarder *forwarder)
{
  printf("@ Forwarder added for %s\n", 
	 forwarder->getRobotName());
}

void forwarderRemoved(ArCentralForwarder *forwarder)
{
  printf("@ Forwarder removed for %s\n", 
	 forwarder->getRobotName());
}

int main(int argc, char **argv)
{
  Aria::init();
  
  ArServerBase robotServer;
  if (!robotServer.open(5000))
  {
    printf("Could not open robot server port\n");
    Aria::exit(1);
  }

  ArServerBase clientServer;
  if (!clientServer.open(7272))
  {
    printf("Could not open robot server port\n");
    Aria::exit(1);
  }

  ArCentralManager switchManager(&robotServer, &clientServer);

  switchManager.addForwarderAddedCallback(
	  new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderAdded), 
	  100);
  switchManager.addForwarderRemovedCallback(
	  new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderRemoved), 
	  100);

  // Start a small handler to monitor communication between the server and 
  // client.
  ArServerHandlerCommMonitor commMonitor(&clientServer);

  ArServerHandlerCommands commands(&clientServer);
  commands.setPrefix("CentralServer");

  ArServerSimpleServerCommands serverCommands(&commands, &clientServer, 
					      false);
  commands.addCommand(
	  "NetworkLogConnections", "Logs the connections to the central server, and to all the forwarded connections",
	  new ArFunctorC<ArCentralManager>
	  (&switchManager, &ArCentralManager::logConnections));

  clientServer.runAsync();
  robotServer.run();
  Aria::exit(0);
}
